The constraint equation is Differentiation of the equation leads to --语66-] @,-)Ay The Jacobians of with respect to 4,and 4 are -vAv Velocity equation can be written by =v p小=》]，q=ag p(i.i)=0   0                 ij j T i P i T T i P ij j T j i i T i T t i j i v B v v B r r v B s v R s ( , )           0                   j i ij j T i P j i ij j T j i i T i T j i i T i i T t i j i v A v v A r r v B r r v A s              ( , )                              ij j T i P ij j T i T i T t i j i ij j T i P ij j T j i i T i T i T i T t i j i i j v A v v B v A s v A v v B v A r r v A s q q 0 0 ( , ) ( , )  ,  0 t(i, j)     v T i j t i j t i j t i j i j q  q q , q  q q ( , ) ( , ) ( , )    The constraint equation is Differentiation of the equation leads to The Jacobians of with respect to and are t(i, j)  i q j q Velocity equation can be written by q v q   t(i, j) 